diff --git a/CMakeLists.txt b/CMakeLists.txt
index 46e38451a..a114ffb7b 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -18,7 +18,7 @@ if (CCACHE_PROGRAM)
 endif ()
 
 ## Project Options
-option(BUILD_TESTING "Build tests" ON)
+option(BUILD_TESTING "Build tests" OFF)
 option(STATIC_CHECK "Enable static check" OFF)
 
 option(ENABLE_LOGGING "Enable logging" ON)
@@ -26,12 +26,16 @@ option(ENABLE_VISUALIZATION "Enable visualization targets" ON)
 option(USE_SYS_SPDLOG "Use system spdlog" OFF)
 option(XMOTION_DEV_MODE "Development mode forces building tests" OFF)
 
-if (DEFINED ENV{ROS_DISTRO} AND "$ENV{ROS_DISTRO}" STREQUAL "humble")
-  message(STATUS "ROS_DISTRO is $ENV{ROS_DISTRO}, use system spdlog")
+if (DEFINED ENV{ROS_DISTRO})
+  set(BUILD_WITH_ROS ON)
+endif ()
+
+if (BUILD_WITH_ROS)
+  message(STATUS "Use spdlog from the system installation")
   set(USE_SYS_SPDLOG ON)
 endif ()
 
-if (BUILD_AS_MODULE OR (NOT (CMAKE_SYSTEM_PROCESSOR MATCHES "x86_64")))
+if (BUILD_WITH_ROS OR BUILD_AS_MODULE OR (NOT (CMAKE_SYSTEM_PROCESSOR MATCHES "x86_64")))
   message(STATUS "Visualization targets are not build on non-x86_64 or when built as module")
   set(ENABLE_VISUALIZATION OFF)
 else ()
diff --git a/cmake/xmotionConfig.cmake.in b/cmake/xmotionConfig.cmake.in
index f8b6a70b9..af0b3ff5e 100644
--- a/cmake/xmotionConfig.cmake.in
+++ b/cmake/xmotionConfig.cmake.in
@@ -7,6 +7,13 @@ include(CMakeFindDependencyMacro)
 find_dependency(Threads REQUIRED)
 
 # Any extra setup
+find_package(PkgConfig REQUIRED)
+pkg_check_modules(Libevent REQUIRED IMPORTED_TARGET libevent)
+find_dependency(graph REQUIRED)
+
+if (DEFINED ENV{ROS_DISTRO})
+    find_dependency(spdlog REQUIRED)
+endif ()
 
 # Add the targets file
 include("${CMAKE_CURRENT_LIST_DIR}/xmotionTargets.cmake")
\ No newline at end of file
diff --git a/src/common/math_utils/CMakeLists.txt b/src/common/math_utils/CMakeLists.txt
index 8aca3414e..219035adc 100644
--- a/src/common/math_utils/CMakeLists.txt
+++ b/src/common/math_utils/CMakeLists.txt
@@ -1,7 +1,5 @@
-find_package(Boost REQUIRED filesystem)
-
 add_library(math_utils STATIC src/matrix.cpp)
-target_link_libraries(math_utils PUBLIC logging stb Boost::filesystem)
+target_link_libraries(math_utils PUBLIC logging stb)
 target_include_directories(math_utils PUBLIC
     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
     $<INSTALL_INTERFACE:include>)
diff --git a/src/common/math_utils/include/math_utils/details/eigen_io_impl.hpp b/src/common/math_utils/include/math_utils/details/eigen_io_impl.hpp
index b05aaae8b..535510df2 100644
--- a/src/common/math_utils/include/math_utils/details/eigen_io_impl.hpp
+++ b/src/common/math_utils/include/math_utils/details/eigen_io_impl.hpp
@@ -18,9 +18,9 @@
 #include <fstream>
 #include <sstream>
 #include <iostream>
+#include <filesystem>
 
 #include <eigen3/Eigen/Core>
-#include <boost/filesystem.hpp>
 
 #define STB_IMAGE_IMPLEMENTATION
 #include "stb_image.h"
@@ -79,8 +79,8 @@ bool EigenIO::WriteToFile(
     bool overwrite) {
   // check directory existence: create the directory if non-existent
   if (directory.empty()) return false;
-  if (!boost::filesystem::exists(directory)) {
-    if (!boost::filesystem::create_directories(directory)) {
+  if (!std::filesystem::exists(directory)) {
+    if (!std::filesystem::create_directories(directory)) {
       XLOG_ERROR("directory is not found and failed to be created - {}",
                  directory);
       return false;
@@ -89,7 +89,7 @@ bool EigenIO::WriteToFile(
 
   // get full file name and check file existence
   filename = directory + "/" + filename;
-  if (boost::filesystem::exists(filename)) {
+  if (std::filesystem::exists(filename)) {
     if (!overwrite) {
       // File exists, but overwriting is not allowed. Abort.
       XLOG_ERROR("file already exists - {}", filename);
@@ -167,8 +167,8 @@ bool EigenIO::WriteToImage(
     bool overwrite) {
   // check directory existence: create the directory if non-existent
   if (directory.empty()) return false;
-  if (!boost::filesystem::exists(directory)) {
-    if (!boost::filesystem::create_directories(directory)) {
+  if (!std::filesystem::exists(directory)) {
+    if (!std::filesystem::create_directories(directory)) {
       XLOG_ERROR("directory is not found and failed to be created - {}",
                  directory);
       return false;
@@ -177,7 +177,7 @@ bool EigenIO::WriteToImage(
 
   // get full file name and check file existence
   filename = directory + "/" + filename;
-  if (boost::filesystem::exists(filename)) {
+  if (std::filesystem::exists(filename)) {
     if (!overwrite) {
       // File exists, but overwriting is not allowed. Abort.
       XLOG_ERROR("file already exists - {}", filename);